Method of surveying bottom topography of water bodies and apparatus for realising said method

FIELD: physics.

SUBSTANCE: sonar probing of the bottom is additionally carried out using a sonar sensor and/or surveying echosounder placed at different depth horizons from ship-borne hydroacoustic apparatus with possibility of movement thereof in the vertical and horizontal plane via sector scanning with scanning of directional characteristics in radiation mode of a parametric antenna with reception of reflected signals with an antenna of the same dimensions as the excitation antenna of the parametric antenna, wherein the width of the directional characteristic in reception mode is greater than the value of the angle of view, and the scanning plane of the antenna deviates from the vertical location position by an angle of 15 degrees towards the side of movement of the ship. A device for implementing method is also disclosed.

EFFECT: high accuracy of surveying the bottom topography of a water body.

2 cl, 6 dwg

The invention relates to hydrography, in particular to methods and technical means of barometric relief survey of the seabed by determining the depths at a given water area determining their geodetic coordinates.

There is a method of shooting of the bottom relief of water sounder [1], including the ship with the installed sonar set shallower waters, the radiation of the acoustic signals toward the bottom, receiving reflected from the bottom of signals, measurement of the distances from pievescola antenna sonar to the reflecting surface (bottom points), the determination of geographical coordinates of the vessel, the determination of geodetic coordinates pievescola antenna sonar measurements onboard, roll and heave, true course and speed of the vessel, determining the true depth values and their geodetic coordinates and their subsequent registration and indication.

It is also known a device for implementing this method, representing the sounder [2], containing priemyslu antenna, the transmitting unit, priamosmaritime unit, control unit, registration unit, the processing mapping of bottom topography, in which the output of pievescola antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs priekaistaudami what about the unit is connected to the input of the recording unit, processing and mapping of bottom topography, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and the block of information gathering, processing and mapping of bottom topography.

Significant disadvantages of the known method and device are relatively low precision shooting of bottom waters that do not meet the requirements for hydrographic surveying (see, for example: Rules hydrographic service, No. 4 (CBC, No. 4. Shooting of the bottom topography, part 2. - Requirements and methods), GUNiO MO USSR, Leningrad, 1984), as well as the substantial complexity of the process, because of the need to perform calculations related to determining corrections for the deviation of the actual average speed of sound in water used in the calculations, the calculated values of the average speed of sound in water for a particular sonar is determined indirectly from the measured values of temperature, salinity and density of sea water on accepted practice standard horizon depth or by direct measurement of sound velocity uniformly distributed points throughout the area.

Due to the fact that the required reliability of determining the average speed of sound, performed the calculations, is provided only in a small local spatial region in which the measured temperature, salinity and density of sea water or directly the speed of propagation of sound in water for a particular sonar, the precision shooting of bottom topography in the end, weighted by the error due to the influence of small-scale and large-scale variability over time of wind movement and turbulence, internal waves, underwater currents. This error can reach 3% of the measured depth (see, for example: D.E. Dinn, B.D. Loncarevic et al. The effect of so und velocity errors on multibeam sonar depth accuracy // Proccedings of American Hydrograhic Symposium. 1995, p.1001-1009).

In accordance with the requirements of the standards of the International hydrographic organization (see, for example: Notes on hydrography. SPb., GUNiO MO of the Russian Federation, No. 248, 1999, p.27-32), in waters with depths of over 200 m, on which the picture is taken in the interests of safety of navigation, the mean square error (RMS) to determine the depth should not exceed 0.3%.

When using the known method for surveying terrain and device for its implementation CSP to determine the depth is for depths up to 100 m from 0.7 to 3.5 m, and for depths up to 200 m from 2.3 to 11.0 m, respectively, which does not meet the requirements.

The mapping of bottom topography UPC build bottom relief must not exceed the ü 0.5 mm wide tablet, that combined with the error in the determination of the depth of the known method and device for its implementation in most cases does not allow for this requirement.

In addition, in the production of imagery bottom relief with subsequent mapping of bottom topography, especially in the coastal area and in narrow places, you must have map information on both land and in the adjacent offshore area. The use for these purposes typographical topographic and navigation map is rather difficult. One of the reasons for this are the different map projections. Topographic maps are built in the projection of the Gauss-krüger and navigation in Mercator projection. This reason is the main obstacle to the use of raster images of the printed maps in electronic geoinformation systems, such as display devices mapped information when you are shooting a bottom relief.

There is also known a method of shooting of the bottom relief areas and device for its implementation [3], in which the technical result consists in increasing the accuracy will be solved due to the fact that the way to capture the topography of the area the sounder installed on the vessel, including radiation hydroacoustic signals in the direction of the bottom receiving reflected from the bottom surface of the signals, ISM is increased distances from pievescola antenna to the bottom, the coordinates of the ship on external sources of information, the measurement side, roll and heave, true course and speed of the vessel, the binding of the measurement time determining the true depth values to determine the correction for the deviation of the actual speed of sound in water from the calculation, mapping the received information identifying the geodetic coordinates of the measured depths, where when determining the true depths of the correction for the deviation of the actual speed of sound in water from the estimates determined in accordance with the relationship: ∆_v=N(C_cf/C_o-1), where H is the depth under the keel (H=Σ C_it_i/2), C_cp=V_c4f_andcosαΔf_d- the average speed of propagation of sound in water; C_about- the speed of propagation of sound in water, which is designed sounder, f_and- emission frequency hydroacoustic hydroacoustic signal Doppler-lag ∆ F_d- the Doppler frequency shift between the emitted and the reflected sonar signals hydroacoustic log from the sea floor, α is the angle formed by the direction of radiation of the acoustic signal to the surface of the bottom and the horizon, V_c- the speed of the vessel defined by geodetic coordinates, C_i- the speed of propagation of sound in water at the measurement depth e is Olot, t_i- the time interval between emission of a signal and reception of the echo from the bottom, the mapping of bottom topography perform pairing topographic raster maps and navigation.

The device for implementing the method containing priemyslu antenna, the transmitting unit, priamosmaritime unit, the control unit and the acquisition unit, information processing and mapping of bottom topography of the area, in which the output of transceiver antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs premoistening unit connected to the input unit collecting information processing and mapping of bottom topography of the area, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and the block of information gathering, processing and mapping of bottom topography, introduced additional unit determining the average speed of propagation of sound in water in the direction of radiation of the acoustic signal, which input via the control unit is connected to the output of shipboard acoustic Doppler velocity meter and the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block is boron, information processing and mapping of bottom topography of the area.

This method is in contrast to the analogues, due to the fact that when determining the true depths of the correction for the deviation of the actual speed of sound in water is determined from the calculated taking into account the average speed of sound propagation in water through the values of the Doppler frequency shift between the emitted and the reflected sonar signals hydroacoustic log from the sea floor, allows to achieve the technical result consists in increasing the accuracy of survey of the topography of the area.

However, because the survey carried out by the measuring equipment installed on the surface vessel, influenced by external conditions, while shooting, there are so-called bad data that is in final processing measured information are wrong. Bad data increases the time of the shooting, and therefore the complexity of processing.

Provided in counterparts, and prototype adjustments are made depending on the current values of yaw, pitch and roll media measuring equipment is also fully addresses the measurement of depths of water area both because of the large inertia sensors, and due to non-uniform energy loss on the way from the vibrator to the bottom and at the bottom (blagoj the OC incomplete reflection), but on the way back.

More complex conditions occur when the radiation reflected signals from any obstacles that are in the aquatic environment. Here we have to reckon with the influence of solid angles, inside of which is covered by the flow energy of the acoustic waves: solid angle within which the vibrator sends signals, and the solid angle under which the size of the obstacle is visible from the center of the probe waves (see, for example: Shuleykin CC Short course of physics of the sea. Leningrad, Gidrometeoizdat, 1959, s.400-401).

And if shooting in a known manner provides the necessary requirements for navigation, when you are shooting in the interests of a search under a layer of silt facilities and pipelines or define limits of the continental shelf of the requirements for precision shooting is not provided.

Sonar search in such conditions is accompanied by a large number of false alarms.

When you are shooting in the waters of the continental shelf to meet the requirements of precision, it is necessary to eliminate or reduce the influence of the errors that are systematic or slowly changing nature, which include errors due to spatial-temporal variability of the velocity of sound in the area of the shooting; error caused by the deviation mgnovennogo the level observed in layered post; the error associated with determining the position and orientation of the instrument coordinate system in the ship coordinate system.

When searching for subsea facilities and pipelines at a small thickness of silt silty pipeline must use only vysokonapolnennyh systems to obtain high resolution. The system should be low for good penetration of the signal into the thickness of sediments. The problem of control of pipelines and define the limits of the continental shelf occurs, usually in shallow water, which requires the limited size of the antennas. Given the comparatively small size silty objects it is necessary to use a scanning narrow parametric beam.

The purpose of this technical solution is to improve the accuracy of the shooting of the bottom relief.

The problem is solved due to the fact that the way to capture the topography of the area, including radiation hydroacoustic signals in the direction of the bottom receiving reflected from the bottom surface of the signals, the measurement of distances from pievescola antenna to the bottom, the coordinates of the ship on external sources of information, the measurement side, roll and heave, true course and speed of the vessel, the binding of the measurement time, the definition of true values with depth is to determine corrections for the deviation of the actual speed of sound in water from the settlement, mapping the received information identifying the geodetic coordinates of the measured depths, where when determining the true depths of the correction for the deviation of the actual speed of sound in water from the estimates determined in accordance with the relationship: ∆_v=N(C_cf/C_o-1), where H is the depth under the keel (N=ΣC_it_i/2), C_cp=V_c4f_andcosαΔf_d- the average speed of propagation of sound in water, With_about- the speed of propagation of sound in water, which is designed sounder, f_and- emission frequency hydroacoustic hydroacoustic signal Doppler-lag ∆ F_d- the Doppler frequency shift between the emitted and the reflected sonar signals hydroacoustic log from the sea floor, α is the angle formed by the direction of radiation of the acoustic signal to the surface of the bottom and the horizon, V_c- the speed of the vessel defined by geodetic coordinates, C_i- the speed of propagation of sound in water at the measurement depth echo sounder, t_i- the time interval between emission of a signal and reception of the echo from the bottom, the mapping of bottom topography perform pairing topographic raster maps and navigation, in contrast to the prototype [3]additionally perform sonar sensing the bottom of the parametric sonar with filigree the existing directional characteristic, installed on different horizons depth from the ship's sonar funds can be moved both in the vertical and horizontal planes of the sectorial overview scanning directivity in the radiation mode parametric antenna with the reception of reflected signals from an antenna of the same dimensions as the antenna pumping parametric antenna, the width of the directivity in the receive mode exceeds the value of the sector review and the scanning plane antenna declined relative vertical locations on the angle of 15 degrees in the direction of movement of the vessel, and a device for implementing the method containing priemyslu antenna, the transmitting unit, priamosmaritime unit, control unit, and block collection, information processing and mapping of bottom topography of the area, in which the output of transceiver antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs premoistening unit connected to the input unit of the collection and processing of information and mapping of bottom topography of the area, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna unit and the components the collection of information, processing and mapping of bottom topography, the block determining the average speed of propagation of sound in water in the direction of radiation of the acoustic signal, which input via the control unit is connected to the output of shipboard acoustic Doppler velocity meter and the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block collection, information processing and mapping of bottom topography of the area, additionally introduced parametric sonar scan directional, articulated with the vessel cable-cable and connected to its inputs-outputs of the control unit and input block collection, information processing and mapping of bottom topography of the area, the visualization module area relief connected by its input to an output unit of data collection, processing and mapping of bottom topography of the area.

The invention is illustrated by drawings (Fig.1-6).

1 is a structural block diagram of the device. The device consists of pievescola antenna 1, the transmitting unit 2, premoistening unit 3, a control unit 4, unit determining the average speed of propagation of sound in water 5, block collection, information processing and mapping of bottom topography 6, parametric sonar 7 with the scan directional characteristic, cable-Tr the SAA 8, the visualization module area relief 9.

The output of the transmitting-receiving antenna 1 is connected to the input premoistening unit 3, the output of the emitting unit 2 is connected with pievescola antenna 1, and outputs premoistening unit 3 is connected to the input of the block collection, information processing and mapping of bottom topography water area 6, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit 4 is connected with the transmitting unit 2, priemyselna unit 3 and unit information gathering, processing and mapping of bottom topography 6, which introduced additional unit determining the average speed of propagation of sound in water 5 in the direction of radiation of the acoustic signal, entrance through which the control unit 4 is connected to the output of shipboard acoustic Doppler velocity meter and the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block collection, information processing and mapping of bottom topography 6 waters, parametric sonar 7 with the scan directional, articulated with the vessel cable wire 8 and connected by its inputs-outputs of the control unit 4 and the input of the block collection, information processing and mapping of bottom topography water area 6, the visualization module area is Eleva 9, connected by its input to an output unit of data collection, processing and mapping of bottom topography waters 9.

The device and principle of operation of units 1÷6 similar devices and principle of operation of units 1÷6 prototype [3]. In this case, as in the prototype, pievescola antenna 1 are collected from the piezoelectric acoustic transducers placed in the same housing, which can be used for both emission and reception of reflected from the bottom of signals. In the cycle of radiation these converters are connected in parallel, and during reception of the echo signals they operate independently from each other.

The transmitting unit 2 consists of a crystal oscillator is stable in frequency, shaper of the repetition period of the emitted pulses, the device forming the duration of the emitted pulse synchronizer device of quantization, power amplifier, inverter, switch.

The generator produces a continuous oscillation frequency of 4.8 MHz, through which the synchronizer is reduced to 600 kHz, and generates a pulse. The power amplifier amplifies the pulse to a value required for the excitation of electro-acoustic transducers pievescola antenna 1. Through the switch converters pievescola antenna 1 during radiation are connected to the transmitting unit 2, and while receiving priemyselna block 3.

Priamosmaritime unit 3 consists of a bandpass amplifiers, antenna amplifier, the main amplifier unit shapers control codes, block filters, amplitude detector, a lowpass filter switch, the output of the amplifier and is designed to receive, amplify, and frequency selection of the signals received.

The control unit 4 is composed of a ROM of the microinstructions, the ROM control address selection, BIS firmware control, two microprocessors, ROM, RAM, pattern transfers, three buffer registers and five highways: highway address line of the microinstructions, line D, line M, line L, and is designed to generate and transmit commands and information files received from external sources, as well as information contained in ROM.

The block determining the average speed of propagation of sound in water 5 consists of a decoder of the microinstructions, buffer stages, register addresses, arithmetical and logical devices, multiplexers, decoder, line A, line D, battery.

Block collection, information processing and mapping of bottom topography 6 consists of receiving registers, block highway system, amplifier, memory Manager, operating unit, the flow control unit commands, block firmware control block interrupt you who adnych registers.

Figure 2 - block diagram of the parametric sonar 7 with the scan directional characteristic, including parametric radiating antenna 10 and 11, the receiving antenna 12, sorokasektsionnoy antenna pump 13, a driver 14 signals the pump with diagrammatology device, the power amplifier 15 to forty-eight channels.

Figure 3 - structural diagram of the parametric sonar. The composition of the parametric sonar 7 with the scan directional characteristic includes marine complex IC, the cable 8 and a towed unit (BU). Marine complex includes a shaper signals 16-23, two-channel power amplifier 24 and 25, the receiver of the echo signals 26-29, frequency counter 30, the Registrar signals 31, oscilloscope 32, band-pass filter 33, the power supply 34. Shaper signals consists of two sets of generators 16 and 18, diagrams highlight the difference frequency of 17, the pulse modulator 19 and 21, a pulse generator 20, pre-amplifiers 22 and 23. The receiver of the echo signals includes a diagram of the locking receiver input at the time of parcel 29, an amplifier with an adjustable gain of 28, the filter set the lower and upper frequencies of 27 and the circuit of the phase locked loop 26.

The cable 8 has a dual derrick braid, three insulated conductive wires.

Part of bukirwa the CSO unit (BU) in addition to the towed body are placed inside the towed body nodes matching the cable Converter pump 35 and 36, converters pump 37, the receiving antenna 38, the amplitude limits of the received signal 39, the pre-amplifier 40, a band-pass filter 41 and the matching amplifier 42.

In a parametric sonar 7 implements a two-channel scheme of the formation of the pump signal. The work of the parametric sonar 7 is that with sets of generators 16 and 18, a signal is sent to the pulse modulator 19 and 21, where a signal is generated with a desired duty cycle, after which it increases the voltage in the pre-amplifiers 22 and 23. The start pulse generator when working with the Registrar of the echo signals is performed from the Registrar signals 31. For operation in the measuring mode is set to run from the internal pulse oscillator with adjustable frequency parcels. After the pre-amplifier signal is applied to the amplifiers 24 and 25, which are fitted with matching units with cable-cable 8. From the outputs of the amplifiers 24 and 25 through the cable 8, the signal is sent to the matching units 35 and 36 placed in a towed body, and then is supplied to one of the converters pump 37.

At the time of radiation to the scheme locking the input of the receiver 29 is fed to the control pulse from the pulse generator 20, which eliminates the possibility of overloading the receiving channel at the time of shipment. tranny from the underwater object signal from one of the broadband antennas 38, passes through the scheme limit of strong echo signals 39, enhanced pre-amplifier 40. The amplified signal is fed to the bandpass filter 41 with a bandwidth of 2.5 to 50 kHz, whereby attenuated received on the receive path signals with frequencies pump, low-frequency noise flow from the motion of the towed body, the noise of the carrier vessel. Next, the signal passes to the matching amplifier 42, which performs the task of matching the output impedance of the circuit with an impedance of the cable 8. Here is separation of variables signals with voltage pre-amplifier, which are transferred by one conductive wire of the cable 8. After the cable 8, the signal passes to the input of bandpass filter 33, precluding the ingress of high-frequency pickups with outputs of amplifiers 24 and 25 through a cable 8 to the input of the receiver 26-29. Here is the division of the voltage coming from the power supply 34 to a towed device, and echo-enhanced pre-amplifier 40. After additional filtering of the received echo signals arrive at the receiver, where the increase in the regulated amplifier 28, is filtered in the filter of the lower and upper frequencies 27, proceed to the circuit phase lock (PLL), which is converted in whitefish is Aly frequency, necessary for the pen of the recorder 31. For normal operation of the PLL to the unit 26 is supplied to the signal diagrams highlight the difference frequency 17. In addition to registering the received signals is carried out and visual inspection of the signals.

Included towed sonar system four antennas pump, three of them have a size of 100×200 mm, and the fourth 700×28 mm, the area of the active surface of the radiation from all four antennas is equal to 200 cm². This allows you to connect any antenna to the power amplifier without additional approval. Structurally, each antenna is made in the form of 14 mosaic of modules, each of which contains 28 elements with resonance frequencies of 150 and 180 kHz.

As receiving antennas used highly sensitive broadband cylindrical transducers with tangential polarization and piston resonant antenna.

Parametric antenna sonar 7 emit in the frequency range from 5 to 50 kHz. The average pump frequency 165 kHz. The width of the directional characteristics -3 dB is 3×6 degrees of antennas radiating in the vertical and horizontal directions, and 1×20 degrees to the antenna side view. The sound pressure level referenced to 1 m, at a frequency of 20 kHz is 2000 PA.

The presence of parametric re the ima work allows for relatively small sizes of the towed body to have in one device almost four vysokonapolnennyh sonar.

Accommodation four antennas allows laciniaria in horizontal and vertical planes, and also gives the possibility of using inclined at an angle of 20 degrees antenna to obtain a panoramic image of the bottom relief.

4 is a General view of the module converters multi-antenna pumping. The modules are designed as a two comb-like structures 43 with the piezoelectric elements 44 of the piezoelectric type CDNW-1 with a diameter of 7 mm, height 9 mm and a developed plate 45 of the alloy D16 on a common flange at the nodal plane and connected to the mounting wire 46.

5 is a block diagram of the visualization module the field of relief.

6 is a processing algorithm of cartographic information.

The operation of the device is as follows.

Command pulses generated by the control unit, the transmitting unit 2 by the formation of the acoustic pulse and the radiation pievescola antenna 1 toward the bottom, as well as the reception and conversion into an electrical signal reflected by the bottom of acoustic signals, transmission of these signals to the input premoistening block 3, which produces electrical signals proportional to the time delay of arrival of reflected from the bottom surface of the signals, which are determined by the distance from pievescola antenna 1 to the points of reflection of signals from m rskogo bottom.

At the same time on the command pulses from the control unit 4 electrical signals proportional to the Doppler shift frequency of the reference acoustic signal from the ship's acoustic Doppler velocity meter (lag) is the analogue of which is the lag described in the book: Absolute and relative logs / Vinogradov K.A., the way V.I., Aswhin B.A., Ridges A.A. // Sudostroenie, Leningrad, 1990, p.30, and electrical signals proportional to geodetic coordinates x, y from the ship diamondcutter or satellite radionavigation system, is fed to the input of block determine the average speed of propagation of sound in water 5, in which the average velocity of propagation of sound in water With_cfdetermined in accordance with the relationship: C_cp=V_c4f_andcosα/ ∆ F_dwhere V_c- the speed of the vessel defined by geodetic coordinates or satellite radionavigation system, f_and- emission frequency hydroacoustic hydroacoustic signal Doppler-lag ∆ T_d- the Doppler frequency shift between the emitted and reflected acoustic signals acoustic Doppler log from the sea floor, α is the angle formed by the direction of radiation of the acoustic signal to the surface of the bottom and the horizon. This dependence follows from the fact that the La specific four-beam Doppler sonar log type LA-52, which is the standard measure of speed on hydrographic vessels, the speed of the vessel is determined in accordance with the relationship: V_c=V_cp/4f_andcosα· ∆ F_d.

Simultaneously with the determination of a velocity lag determines the speed of the vessel in geodetic coordinates, obtained by satellite or radio navigation navigation systems in accordance with the relationship:where X_iY_igeodetic coordinates of the vessel, t_ithe time of their definition.

Next on the command pulses from the control unit 4 units 3, 4 and 5 is supplied to the block collection, information processing and mapping of bottom topography 6, which also receives information from the ship's gauges components of pitch and rate.

Unit 6 determines the correction ΔZ_vthe depths measured by the sounder (H=ΣC_it_i/2, where C_i- the speed of propagation of sound in water, t_i- the time interval between emission of a signal by receiving the echo from the bottom), the deviation of the actual speed of sound in water from the calculated specific sounder: ΔZ_v=C_i(C_cp/S_about-1), where C_ithe depth measured by the sounder With_about- the speed of propagation of sound in water, which is designed sounder.

Information from the parametric latitude 7 is fed to the visualization module the AI field elevation 9.

The mapping information is carried out by applying the geodesic coordinates of the reflection of hydroacoustic signals from the seabed on the tablet, which is constructed by pairing topographic raster maps and navigation in the following sequence:

- raster navigation map in Mercator projection is subjected to vectorization shoreline navigation maps;

- sampled area, the relevant Maritime area, on which the picture is taken of the bottom topography given vectorization shoreline navigation maps;

- an entry is made in the final raster navigational charts;

- raster topographic maps in the projection of the Gauss-krüger is to scale the navigation map;

- convert the coordinates of the projection of universal transverse Mercator geographic coordinate;

- converts geographic coordinates Mercator projection;

- selection is part of the raster corresponding to the land (coastal) region;

- writes in the final raster topographic maps;

- according to the results of the records in the resulting raster navigational and topographical maps based final raster map combined navigation and topographic information in Mercator projection;

- in the final raster the nd map displayed on the display device also displays the path of the vessel.

The principle of operation of sonar 7 is as follows.

As a method of review applied sector overview scanning directivity in the radiation mode parametric antenna. The receiving antenna is the same size as the antenna pumping parametric antenna. The width of the directivity in the receive mode exceeds the value of the sector review. To reduce the intensity of bottom reverberation and reduce the effects of multiple echoes from the surface when working in shallow sea plane scanning antenna declined relative to the vertical location at an angle of about 15 degrees in the direction of movement of the vessel. Sector scanning beam parametric antenna is limited by the angle of incidence, depending on the angle of total internal reflection of the sound beam in the bottom sediments, which varies from 30 to 50 degrees depending on the type and condition of bottom sediments. The scanning step, depending on the required angular resolution and the maximum search speed is 3 degrees on each side.

Resolution on the angular coordinate is determined by the width of the directional characteristics and parametric antenna, which is 3×4 degrees at - 3dB. Allowing the non ability range at maximum speed shooting (search) is 0.5-1.5 m for various combinations of parameters of the review.

The review is on the right and left sides of the two parametric antennas 61 and 62, the directional characteristics of which in-phase inclusion of antenna elements of the pump 64 is tilted forward 15 degrees and tilted left antenna to the left and right antenna right at one-fourth the size of the sector scan. Receiving antenna 63 is oriented down and also tilt forward 15 degrees.

The device uses two scanning mode. When nutrionalism the scan in each direction is radiated orthogonal signal with its frequency, i.e. linear frequency modulation (chirp) signal is emitted simultaneously with scanning of the directional characteristics over the duration of the probe pulse. Admission to this event is multiband processing. If piperidino scan in each direction is radiated or tonal radar pulse or chirp signal. In the latter case, in the receiving path is based processing filter that is consistent with the excitation signal.

The composition of the parametric emitting tract sonar 7 includes: an imaging unit 65 signals pump with diagrammatology device, the power amplifier 66 for forty-eight channels, the antenna of the pump 63, representing sorokasektsionnoy dvuhsezonnogo antenna

The pumping signal in the form of forty-eight frequency-modulated component with the equidistant channel-by-channel phase shift, adjustable accordingly to the scanning mode, is fed to a multichannel power amplifier 66, and then the amplified signal is supplied to dvuhsezonnogo antenna grid, which emits the pump signal in a given direction. In the nonlinear interaction of acoustic waves pumping in the environment generates a signal of the difference frequency with the given parameters, and spatial characteristics of parametric antenna are determined by the controlled spatial characteristics of the field of pump waves.

One parametric antenna is provided a sector scan of ±15 degrees in the range of difference frequencies from 4 to 20 kHz. Frequency deviation is set by the program. The following scan modes: manual, continuous nutrionally, discrete nutrionally shipping.

Shaper 65 signals pump with diagrammatology device contains a synthesizer component signals of the pump, which generates oscillations with frequencies f₁=f_m-ðφ(τ)/ðτ and f₂=f_in-ðφ(τ)/ðτ.

The law of variation of the phase φ(τ) is the master oscillator modulating functions. From the output of the synthesizer binary signals with frequencies f₁and f₂the post is forced to the input unit controlled delay lines, the operation mode which is set by the control unit scans. The outputs of the shaper 65 are formed signals (24 channels with frequency f₁and 24 channels with frequency f₂with consistently increasing from channel to channel phase shift defined by the law of change of the envelope and an adjustable pulse duration and repetition period. The pulse duration is adjustable from 0.5 to 32 MS. In manual mode provides 32 discrete scan angle.

The amplifier 66 consists of two blocks. Each block contains 24 channels. The amplitude of the input signal is 10 V, the output signals of 600 C.

Multi-antenna pump 64 is designed for energy conversion of electrical signals into acoustic and forming a narrow directivity at frequencies of pumping. The antenna consists of two sublattices with resonance frequencies of 65 and 75 kHz. In each sublattice contains 24 modules (figure 10). The module includes thirty-one Converter, which provide directional characteristic width of 4 degrees at - 3dB. The individual transducers in the module can be adjusted in frequency to increase the overall efficiency of the antenna. The modules in the antenna are located in the sequence types with different resonant frequencies. Structurally, the antenna is made rectangular in the dictionary enclosure size 520×330×80 mm Radiating surface after Assembly filled smokeproducing polyurethane compound, which protects the lining from destruction in the sea water.

The results of measurements of the amplitude-frequency characteristics and the directivity characteristics of parametric emitting tract in two planes with the scanning beam within pre-set angles at the difference frequency of 20 kHz showed the ability to detect and control of pipelines, closed layer of silt, which is confirmed by an additional test, the resulting location of the pipe section at an angle of 15 degrees to the vertical scanning directional characteristics in the perpendicular plane. The pipe was on the bottom under a thin layer of silt is not thicker than 20 cm, the Bottom consisted of a layered structure. Echogram obtained at a frequency of 12 kHz when probing pulse duration of 0.5 MS. By scanning the directivity of the echo signals from the pipe appear in a certain sector of angles.

When rendering a registered area of the bottom topography data to VRML interpreter (figure 5) are formed in the computer memory of the computing device is further loaded into the interpreter. Why in the boot VRML file included site JavaScript functions which control the area of the visible space. The software tool is nami for cartographic visualization are data structures in SVG format, which supports vector and raster data. Rendering data in SVG format is a declarative language interpreter SVG. The data in the SVG structure are formed similarly to the formation of data in VRML format. Based on the data in the XML structure (geospatial information)obtained from the database on request, carried out the conversion in browser memory in the structure of the SVG using XSLT T. For simultaneous presentation of geospatial data in two-dimensional and three-dimensional representation is to support the synchronization of navigation and the other scene. To map the scene is the rectangle corresponding to the current region of space, the data which is loaded into the memory of the VRML interpreter. The synchronization SVG is based on JavaScript functions embedded in SVG and HTML. Since synchronization from VRML to make more difficult, the boot file VRML enabled site with JavaScript navigation function, which does not allow three-dimensional image beyond the window of view and constantly monitoring window coordinates of view. These coordinates the necessary information for synchronization with the map stage, which is possible using the timer HTML.

The navigation system is built using the alternative with respect to f the th technology GA organizing principle point of observation of three-dimensional scenes which uses the standard principle is the observation point is located outside the stage and when navigating the scene is stationary, and change the coordinates of the observation point and the angle. Thus, the center of rotation is not explicitly specified, which is one of the reasons for the loss of image when navigating. In the proposed technology, the observation point is always in the center of the window of observation and visualized small trihedron axes, and the beginning of the trihedron is always the center of rotation of the image and when navigating the stage moves relative to this center.

Information from unit 6 (Fig 1) is supplied to the module visualization of the region of the relief 9 (figure 5), whereby perform the interpolation points of the heights (depths) methods of two-dimensional spline functions, specifically in the form of two-dimensional irregular rational fundamental splines (NURBS) (NIKOLAY Golovanov. Geometric modeling. M, Fitalic, 2002. - 472 C.), mathematical expressions which are not presented due to lack of sufficient space. The advantage of the proposed method is to perform interpolation of the elevation points in the form of two-dimensional rational two-dimensional spline NURBS functions, allowing you to build up a smooth surface for any form of relief, even for breakages with a negative angle. Secondly, the surface elevation is specified, the analysis is some dependence, i.e. a finite set of parameters fixed set of functions (polynomial splines). The analytical form of the task of relief, i.e. in the form of superposition of analytic functions of two variables, allows you to use the entire apparatus of differential geometry to describe the morphometric properties of the terrain, for example, compute the value function (height, depth) or differential (slope) at any point (or points) the area of assignment functions. Thirdly, NURBS provide local edit the shape of the surface. In addition, for the same area of land the size of the array DEM data using NUBRS will be at least an order of magnitude less than traditional point of view. Consequently, the use of NURBS increases the efficiency of the automated geospatial systems by reducing processing time and required memory. The use of NURBS in computing is already a fait accompli - in graphics packages all operating systems embedded processing algorithms and visualization NURBS, such as graphics packages low: DirectX and OpenGL for Windows. However, when DEM obstacles associated with the effect of the occurrence in some situations, violations of monotonicity in the change of the surface - local appearance of spurious oscillations. In the inventive fashion this obstacle is eliminated either by adding new points in the array for interpolation, or by using methods isogeometric approximation by splines. In the first case, the resolution of problems associated with the increasing importance of expert work in an iterative procedure for constructing NURBS, and the second important complication of mathematical algorithms technology.

In the proposed method is implemented the construction of a DEM-based NURBS in the form of iterative expert automated procedure. As a programming language used the language MatLab. In this system, the build quality of a DEM is determined by expert comparison of the position of the contour calculated by NURBS, with the position of the corresponding isohypse (isobaths) on the original map.

In a particular implementation of the proposed method, source of information about the terrain serve as a raster map.

In General, when the approximation of the elevation profile of one-dimensional splines should be set to the values of the two first derivatives at the end points of the section. However, this information is unknown, and get it in practice impossible. Therefore, as the base spline to approximate the elevation profile along the section used a simple cubic spline with zero boundary derivatives. Because there is no explicit two-dimensional splines, because you cannot construct the infinite system of algebraic equations DL the approval of the first two derivatives in all directions at adjacent edges of two pieces of spline surfaces, building a two-dimensional spline function is performed using tensor products of univariate splines. Approval of the first two differentials center for adjacent rectangular areas of the map is provided by the overlap of job related NURBS.

Thus, the technology of construction of the DEM in analytical form based on NURBS eliminates the phase triangulation and thus to eliminate the drawbacks of the existing technologies. The proposed implementation of the technology can be adapted to other types of source information, and may include more complex types of basic splines.

When using the proposed method and device for its implementation, intended to capture the topography of the area, the requirement for accurate determination of the depth at the shooting of bottom waters specified applicable regulations, due to the possibility of measuring the Doppler shift frequency of the reference acoustic signal acoustic Doppler log, the absolute velocity of the ship with sonar on external sources of information (for example, satellite navigation systems like GPS), which determine the average vertical velocity of propagation of sound in the aquatic environment.

When taking relief of the bottom echo sounder average quadraticity is the error in determining the vertical speed of sound should not exceed ±7.5 m/s This requirement can be achieved if the speed of the vessel will be determined from the mean square error not exceeding ±0.037 m/s, which may be implemented with the determination of geodetic coordinates from the mean square error not exceeding ±7,8 m

Installed on hydrographic ships navigation system, in particular a combined receiver-indicators-satellite and radionavigation systems, shore-based, allow to determine the geodetic coordinates with an accuracy of ±6.0 m, and during their operation in differential mode ±3,0 m

When pairing topographic raster maps and navigation for mapping of bottom topography errors obtained raster maps are no more than two pixels, for example for scale maps 1:250000 with a resolution of 400 dpi, this amounts to 30 m on the earth's surface that does not exceed the error of a raster map.

In the process of shooting from a set of measured depths are selected informative depth, which are amended for the speed of sound calculated and linked to veroyatnym coordinates for drawing on a working tablet and operational assessment of the quality of the shooting.

Sonar sensing the bottom of the parametric sonar installed on excellent levels deep into the us from the ship's echo sounder can move in a vertical and in the horizontal planes of the sectorial overview scanning directivity in the radiation mode parametric antenna with the reception of reflected signals from an antenna of the same dimensions as the antenna pumping parametric antenna, the width of the directivity in the receive mode exceeds the value of the sector review and the scanning plane antenna declined relative vertical locations on the angle of 15 degrees in the direction of movement of the vessel, allows to obtain a panoramic image of the bottom topography with in the bottom of the pipeline.

The use of such integration, allowing you to combine the power side-view and search under a layer of sediment, in combination with the mapping of the seabed on the measured depths, the point of which is tied to the coordinates, controls are on the bottom and muddy pipelines within the shelf zone in the basin of rivers and inland water bodies.

The practical realization of the proposed method and device for its implementation the technical complexity is not due to the fact that for its implementation uses standard measuring tools installed on hydrographic vessels intended to capture bottom relief.

Sources of information

1. Kolomiychuk N Hydrography. L., GUNiO MO the SSR, 1988, s-277.

2. Hare R. Depth and position error budgets for multibeam echosounding // International Hydrographic Review. 1995, v.LXXII, No. 2, p.37-69.

3. Patent RU No. 2340916.

1. The way to capture the topography of the area, including radiation hydroacoustic signals in the direction of the bottom receiving reflected from the bottom surface of the signals, the measurement of distances from pievescola antenna to the bottom, the coordinates of the ship on external sources of information, the measurement side, roll and heave, true course and speed of the vessel, the binding of the measurement time determining the true depth values to determine the correction for the deviation of the actual speed of sound in water from the calculation, mapping the received information identifying the geodetic coordinates of the measured depths, where when determining the true depths of the correction for the deviation of the actual speed of sound in water from the calculated determined in accordance with the relationship: ∆_v=H(C_cp/C_o-1), where H is the depth under the keel (H=ΣC_it_i/2), C_cp=V_c4f_andcosαΔf_d- the average speed of propagation of sound in water, With_about- the speed of propagation of sound in water, which is designed sounder, f_and- emission frequency hydroacoustic hydroacoustic signal Doppler-lag ∆ F_d- the Doppler frequency shift between the emitted and reflected the th hydroacoustic hydroacoustic signals lag from the seabed, α is the angle formed by the direction of radiation of the acoustic signal to the surface of the bottom and the horizon, V_c- the speed of the vessel defined by geodetic coordinates; C_i- the speed of propagation of sound in water at the measurement depth echo sounder, t_i- the time interval between emission of a signal and reception of the echo from the bottom, the mapping of bottom topography perform pairing topographic raster maps and navigation, characterized in that it further perform sonar probing the bottom with sonar and/or survey echo sounder installed on different horizons depth from the ship's sonar funds can be moved both in the vertical and horizontal planes of the sectorial overview scanning directivity in the radiation mode parametric antenna with the reception of reflected signals from an antenna of the same dimensions as the antenna pumping parametric antenna, the width of the directivity in the receive mode exceeds the value of the sector review, and the scanning plane antenna declined relative vertical locations on the angle of 15° in the direction of movement of the vessel.

2. The device for implementing the method containing priemyslu antenna, the transmitting unit, priamosmaritime unit,the control unit and the acquisition unit, information processing and mapping of bottom topography of the area, in which the output of transceiver antenna connected to the input of premoistening block, the output of the emitting unit is connected to pievescola antenna outputs premoistening unit connected to the input unit collecting information processing and mapping of bottom topography of the area, the inputs of which are connected to the outputs of the ship's gauges components pitching, of course, the velocity and position, and the control unit is connected with the transmitting unit, priemyselna block and the block of information gathering, processing and mapping of bottom topography, the block determining the average speed of propagation of sound in water in the direction of radiation of the acoustic signal, which input via the control unit is connected with the release of shipboard acoustic Doppler velocity meter and the output of the receiver radio navigation and satellite navigation system, and the output connected to the input of the block collection, information processing and mapping of bottom topography of the area, characterized in that additionally introduced sonar scan directional characteristic, coupled with the vessel cable-cable, and connected by its inputs to the outputs of the control unit and input block collection, information processing and mapping of bottom topography of the area, the visualization module about the Asti relief, connected by its input to an output unit of data collection, processing and mapping of bottom topography of the area.